Model 9C43400R000011M00MRP code

Motor parameters

Continuous stall torque Mo 1 9.4 NmPeak stall torque Mmax 2 28.2 NmRated torque Mn @ nN 1 5.8 NmRated speed nN 4000 rpmRated frequency fN 333.3 HzNumber of motor poles p 10

Winding specifications

Torque constant KTo_cold 2-3-5 1.36 Nm/AVoltage constant KE 2-3-4 0.79 Vs/rad Notes:

Resistance betwenn phases [Ω] R 2-3 1.49 Ohm DC bus voltage: 565 Vdc (AC 400 V supply)

Inductance between phases [mH] L 6 9.6 mH Max torque curve may depend on actual DC bus voltage.

Continuous current @ Mo Io 1-5 7.8 ACurrent @ Mmax Imax 2-5 26.1 A Transducer typeRated current @ Mn In 1-5 5.1 A 2-pole resolver, size 15Bemf between phases @ nN Ephph 2-3-4 330 V Resolver pole pairs: 1

Supply voltage: 7 VSupply frequency: 10 kHz

Mechanical parameters

Moment of inertia of rotor JM 7 11.1 kg.cm2 Brake parametersMass of the motor M 7 9.9 kgProtection degree (body only) - IP65 Rated voltage 24 Vdc

Input power 19.5 WInput current 0.81 A

Notes: Braking torque (min. static) 16.0 Nm1) Average motor windings over temperature 100°C, ambient temperature 40°C, flange mounted (300x300x20 steel) Disc inertia 0.73 kg.cm2

2) All motor parts at 20°C Weight 1.1 kg3) Tolerance +/-10%

4) Vrms between phases Notes:

5) Arms Parking brake only! Motor shaft must be at standstill when brake is actuated.

6) Tolerance +/-15%

7) Motor without brake

Motor overall dimensions on next pageAll values have been calculated See motor quick guide for additional information on installation, connections and tranducers.

Technical specification

9C4.3.40 Torque Vs. Speed

0

5

10

15

20

25

30

0 1000 2000 3000 4000 5000

Speed [rpm]

[Nm

] Mcont

Mmax

ABB S.p.A. - 01-Apr-2009 Page 1/1 File: TechSpec_9C43400R000011M00.xls - Printed on 02/04/2009

AB

B S

.p.A

., pr

oprie

taria

di q

uest

o di

segn

o, n

e vi

eta

la c

omun

icaz

ione

a te

rzi e

la d

iffus

ione

non

aut

oriz

zata

ABBABB S.p.A.

DATA

MODIFICHE

A B C D EF G H I L

CONTROLL.

12.5

3.2

0.8

0.2

LAVORAZIONI

DISEGNO NR.PROTEZ. SUPERFICIALE

DENOMINAZIONE

PESO

SERIE

SCALA

DISEGN.

PRECISOMEDIOGROSSOLANO

GRADO DI PRECISIONE SECONDO UNI 5307-63

QUOTE SENZA INDICAZIONE DI TOLLERANZA

MATERIALE

CODICE

9C4

PGS Ing. Secondo

22/10/2007

File : 1526050a - Ingombro 9C4 - Finland.dft

_ _._

9C4 Motor Overall Dimensions

1:1

15.26050

(A)

2008

-09-

26 -

Mod

ified

dim

ensi

ons

in le

nght

tabl

e, u

pda

ted

draw

ing118q

Signal Connector (17 pins) Power Connector (8 pins)

O 10N°4 Holes

O 9

5 j6

40

20

6

19O

j6

TYPE LB RESOLVER LB ENCODER LB Brake

9C4.1 147 176,5 176,5

9C4.2 181 210,5 210,5

9C4.3 215 244,5 244,5

9C4.4 249 278,5 278,5

M otor SizesLB Brake + ENCODER

206

240

274

308

LB

3n 0.1 A

^ 0.04

a 0.1 A

A

NOTES:1) This drawing refers to 9C4.1 motor equipped with brake and encoder.2) Dimensions may be subject to changes.3) All motors balanced with half-key, full key in package.

Key TypeUNI 6604 - 6x6x30

156A

View A

3.5

O 115

87.57.5

37.5

90°= =

26.5

59.576